1、* Thisexampleexplainshowtoperformthehand-eyecalibrationfor* aSCARArobot.Inthiscase,thecameraisattachedtotherobottool* andthecalibrationobjectisstationarywithrespecttotherobot.*Providethedescriptionfileofthecalibrationplateandthe*cameraparametersofthepreviouslycalibratedcamera* 本示例說明如何執(zhí)行SCARA機(jī)器人的手眼校準(zhǔn)

2、。在這種情況下，照相機(jī)附接到機(jī)器人工具，校準(zhǔn)對象相對于機(jī)器人是靜止的。* 提供校準(zhǔn)板的描述文件和以前校準(zhǔn)的攝像機(jī)的攝像機(jī)參數(shù)CalibObjDescr:='calibrate_hand_eye_scara_setup_01_calplate.cpd'CameraParam:=0.004938,-10379.136,4.65138e-006,4.65e-006,617.294,534.687,1280,1024dev_close_window()dev_open_window_fit_size(0,0,1280,1024,640,-1,WindowHandle)set_displ

3、ay_font(WindowHandle,14,'mono','true','false')dev_update_off()* Acquirecalibrationimagesandcorrespondingrobotposes* 獲取校準(zhǔn)圖像和相應(yīng)的機(jī)器人姿勢* Createanewcalibrationmodelcreate_calib_data('hand_eye_scara_moving_cam',1,1,CalibDatalD)create_calib_data('hand_eye_scara_moving_ca

4、m',1,1,CalibDatalD1)* Setthecameraparametersinthecalibrationmodelset_calib_data_cam_param(CalibDataID1,0,'area_scan_division',CameraParam)set_calib_data_cam_param(CalibDataID,0,'area_scan_division',CameraParam)* Setthecalibrationplateinthecalibrationmodel* 在校準(zhǔn)模型中設(shè)置校準(zhǔn)板set_calib_da

5、ta_calib_object(CalibDataID,0,CalibObjDescr)forIndex:=1to10by1*Readthecalibrationimageread_image(CalibImage,'3dmachinevision/handeye/scaramovingcamsetup01calibJ_I_'+Index$'02')* Readthecorrespondingrobotpose(poseofthetoolinthe* robotbasecoordinatesystem)* 讀取相應(yīng)的機(jī)器人姿勢(機(jī)器人基座坐標(biāo)系中的刀具姿態(tài))re

6、ad_pose('scara_moving_cam_setup_01_tool_in_base_pose_'+Index$'02'+'.dat',ToolInBasePose)*Settherobotposeinthecalibrationmodelset_calib_data(CalibDatalD,'tool',Index,'tool_in_base_pose',ToolInBasePose)* Determinetheposeofthecalibrationplateinthecamera* coordina

7、tesystemandsettheposeinthecalibrationmodel* 確定相機(jī)坐標(biāo)系中校準(zhǔn)板的姿態(tài)，并在校準(zhǔn)模型中設(shè)置姿態(tài)find_calib_object(CalibImage,CalibDataID,0,0,Index,)*Visualizedev_display(CalibImage)get_calib_data_observ_pose(CalibDataID,0,0,Index,ObjInCameraPose)disp_caltab(WindowHandle,CalibObjDescr,CameraParam,ObjInCameraPose,1)disp_messag

8、e(WindowHandle,'Calibrationimage'+Index+'of10','window',12,12,'black','true')wait_seconds(0.2)endfordisp_continue_message(WindowHandle,'black','true')stop()*2.Performthehand-eyecalibrationcalibrate_hand_eye(CalibDatalD,Errors)* 執(zhí)行手眼校準(zhǔn)* Getthere

9、sultofthecalibration,i.e.,theposeof* therobotbaseinthecameracoordinatesystem* 獲取校準(zhǔn)結(jié)果，即攝像機(jī)坐標(biāo)系中機(jī)器人基座的姿態(tài)get_calib_data(CalibDataID,'camera',0,'tool_in_cam_pose',ToollnCamPosePre)* Freethecalibrationmodelclear_calib_data(CalibDataID)* Visualizedisp_preliminary_result(WindowHandle,ToolInC

10、amPosePre,Errors)disp_continue_message(WindowHandle,'black','true')stop()* 3.Fixtheposeambiguity* WhencalibratingaSCARArobot,itisimpossibletodetermine* allposeparametersunambiguously.Incaseofamoving* camera,theZtranslationofObjInBasePosecannotbedetermined.* Therefore,itisnecessarytof

11、ixtheunknowntranslationin* Zbymovingtherobottoaposeofknownheightinthecamera* coordinatesystem.Becausenormallythecameradoesnotsee* theobjectifthetoolismovedtotheobject,therobotis* movedtotwoposes.Forthis,thecalibrationplateisplaced* atanarbitraryposition.Therobotisthenmanuallymovedsuch* thatthecamera

12、canobservethecalibrationplate.Now,animage* ofthecalibrationplateisacquiredandtherobotposeis* queried(->ToolInBasePoseRef1).Fromtheimage,theposeofthe* calibrationplateinthecameracoordinatesystemcanbe* determined(->ObjInCamPoseRef1).Afterwards,thetoolofthe* robotismanuallymovedtotheoriginoftheca

13、librationplate* (->ToolInBasePoseRef2).Thesethreeposesandtheresultofthe* calibration(ToolInCamPosePre)canbeusedtofixthe* Zambiguitybyusingtheprocedurefix_scara_ambiguity_moving_cam:* 校準(zhǔn)SCARA機(jī)器人時(shí)，無法明確地確定所有姿態(tài)參數(shù)。在移動(dòng)攝像機(jī)的情況下，不能確定ObjInBasePose的Z平移。* 因此，需要通過在機(jī)器人坐標(biāo)系中將機(jī)器人移動(dòng)到已知高度的姿勢來固定Z中的未知翻譯。因?yàn)橥ǔＧ闆r下，* 如果將

14、工具移動(dòng)到物體上，相機(jī)不會看到物體，則機(jī)器人將移動(dòng)到兩個(gè)姿勢。為此，校準(zhǔn)板被放置在任意位置。* 然后手動(dòng)移動(dòng)機(jī)器人，使得相機(jī)可以觀察校準(zhǔn)板?，F(xiàn)在，獲取校準(zhǔn)板的圖像,* 并查詢機(jī)器人姿勢(->ToolInBasePoseRefl)。從圖像中可以確定攝像機(jī)坐標(biāo)系中校準(zhǔn)板的姿態(tài)* (->ObjInCamPoseRefl)。然后，將機(jī)器人的工具手動(dòng)移動(dòng)到校準(zhǔn)板的原點(diǎn)* (->ToolInBasePoseRef2)。這三個(gè)姿勢和校準(zhǔn)結(jié)果(ToolInCamPosePre)read_image* 可用于通過使用過程fix_scara_ambiguity_moving_cam來修復(fù)Z模糊性

15、：(ImageRef1,'3dmachinevision/handeye/scaramovingcamsetup01calibJ_I_ref_1')get_calib_plate_pose(ImageRef1,CameraParam,CalibObjDescr,ObjInCamPoseRef1)read_pose('scara_moving_cam_setup_01_tool_in_base_pose_ref_1.dat',ToolInBasePoseRef1)read_pose('scara_moving_cam_setup_01_tool_in_ba

16、se_pose_ref_2.dat',ToolInBasePoseRef2)(ToolInCamPosePre,ToolInBasePoseRef1,0,0,ZCorrection,fix_scara_ambiguity_moving_camObjInCamPoseRef1,ToolInBasePoseRef2,ZCorrection)set_origin_pose(ToolInCamPosePre,ToolInCamPose)* Visualizedisp_final_results(WindowHandle,ToolInCamPosePre,ToolInCamPose)disp_e

17、nd_of_program_message(WindowHandle,'black','true')* Afterthehand-eyecalibrationisperformed,theresultingpose* ToolInCamPosecanbeusedinroboticgraspingapplications:* Letusassumethatthecameraacquiresanimageoftheobjectthat* shouldbegrasped.Thisimagewastakenatacertainrobotpose* (->ToolI

18、nBasePose).Fromtheimage,theposeoftheobjectinthe* cameracoordinatesystemmustbedetermined(->ObjInCamPose)by* usingimageprocessing.* Basedonthesetwoposesandtheresultofthecalibration* (ToolInCamPose),therobotposecanbecomputedthatisnecessary* tograsptheobject(->ObjInBasePose):*執(zhí)行手眼校準(zhǔn)后，所得到的姿勢ToolInCamPose可用于機(jī)器人掌握應(yīng)用：讓我們假設(shè)相機(jī)獲取應(yīng)掌握的物體的圖像。該圖像是在某個(gè)機(jī)器人姿勢(->ToolInBasePose)拍攝的。從圖像中，必須通過使用圖像處理來確定攝像機(jī)坐標(biāo)系中物體的姿態(tài)(->ObjInCamPose)。*基于這兩種姿勢和校準(zhǔn)結(jié)果(ToolInCamPose